US6806670B2 - Energy converter control apparatus, and control method thereof - Google Patents

Energy converter control apparatus, and control method thereof Download PDF

Info

Publication number
US6806670B2
US6806670B2 US10/413,404 US41340403A US6806670B2 US 6806670 B2 US6806670 B2 US 6806670B2 US 41340403 A US41340403 A US 41340403A US 6806670 B2 US6806670 B2 US 6806670B2
Authority
US
United States
Prior art keywords
movable element
current
armature
voltage
armature windings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related, expires
Application number
US10/413,404
Other languages
English (en)
Other versions
US20030210006A1 (en
Inventor
Yasushi Kusaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA reassignment TOYOTA JIDOSHA KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KUSAKA, YASUSHI
Publication of US20030210006A1 publication Critical patent/US20030210006A1/en
Application granted granted Critical
Publication of US6806670B2 publication Critical patent/US6806670B2/en
Adjusted expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Definitions

  • the invention relates to a control apparatus for controlling an energy converter, such as electric motors that covert electric energy into kinetic energy, including rotary motors whose movable element is a rotor that undergoes rotational motion, and linear motors whose movable element is a slider that undergoes linear motion, or generators that convert kinetic energy into electric energy by rotating or moving a movable element, and also relates to a control method thereof.
  • an energy converter such as electric motors that covert electric energy into kinetic energy, including rotary motors whose movable element is a rotor that undergoes rotational motion, and linear motors whose movable element is a slider that undergoes linear motion, or generators that convert kinetic energy into electric energy by rotating or moving a movable element, and also relates to a control method thereof.
  • FIG. 10 illustrates the principle of a two-pole alternating-current motor (synchronous motor).
  • This drawing schematically illustrates a revolving-field type motor in which an armature winding is provided on a stationary element (stator), and a field winding is provided on a movable element (rotor).
  • the electric motor having this structure is termed revolving-field type motor.
  • an electric motor having a structure in which a field winding is provided on the stationary element side and an armature winding is provided on the rotor side is termed revolving-armature type motor.
  • the revolving-field type motors are simpler in structure than the revolving-armature type motors, and the revolving-field type motors require lower field voltage and current than the revolving-armature type motors. Therefore, the revolving-field type motors are more often employed.
  • the rotor becomes an electric magnet, and rotates synchronously with revolving magnetic fields produced by three-phase alternating currents supplied to the stationary element side.
  • a three-phase brushless motor which is a permanent magnet-type synchronous motor is described in Japanese Patent Application Laid-Open Publication No. 9-47066.
  • FIG. 11 is a block diagram of a brushless motor 4 similar to the brushless motor described in Japanese Patent Application Laid-Open Publication No. 9-47066.
  • An alternating-current signal voltage output from an alternating-current oscillator 1 is converted into a direct-current bias voltage by an AC/DC converter portion 2 , and is supplied to an inverter circuit 3 .
  • the inverter circuit 3 is driven by a control signal output from a drive circuit 7 so as to generate a three-phase alternating-current voltage from the direct-current bias voltage.
  • the inverter circuit 3 has three transistor arrays that are provided in parallel between direct-current bias voltages.
  • a first transistor array is made up of a transistor Ua, and a transistor X that are connected in series.
  • a second transistor array is made up of a transistor Va and a transistor Y that are connected in series.
  • a third transistor array is made up of a transistor Wa and a transistor Z that are connected in series.
  • a diode is connected between the emitter and the collector of each transistor, thus allowing passage of current only in one direction. If the transistors are field-effect transistors, a diode is connected between the source and the drain of each transistor.
  • the electric potential at a boundary node between the upstream and downstream-side transistors drops. In the case of the converse on/off states, the potential rises. In this manner, the boundary node potential in a transistor array can be raised and dropped by switching the transistors via a drive circuit 7 .
  • a command for the transistor switching for the purpose of generating three-phase alternating current is output from a control circuit 6 .
  • three-phase alternating current is randomly supplied to armature windings U, V, W, the motor becomes out of synchronization. Therefore, three-phase alternating current is supplied synchronously with the present position of a movable element of the motor. If the phase of three-phase alternating current is adjusted by detecting the position of the movable element, a feedback control can be realized by detecting the position of the movable element and adjusting the phase of three-phase alternating current based on that detected position. If the phase of three-phase alternating current is adjusted on the basis of the position of the movable element that is expected upon supply of the three-phase alternating current, an open-loop control can be performed. In order to perform the open-loop control, it is necessary to detect the phase of three-phase alternating current. In the example shown in FIG. 11, therefore, a position detector circuit 5 is connected to the three armature windings.
  • a method for detecting the mounting error of a magnetic pole position sensor in order to accurately determine the position of the movable element is disclosed.
  • the inverter circuit is opened, and an induced voltage is measured.
  • a mounting error is detected by comparing the induced voltage with an output of the magnetic pole position sensor. Since such an error incurs a reduction in driving efficiency, it is preferable that the error be minimized.
  • a first aspect of the invention relates to an energy converter control apparatus for controlling an energy converter which has a movable element that has a field winding, and a stationary element that has an armature winding, and which is able to move the movable element by supplying an alternating current to the armature winding while supplying a current to the field winding.
  • the energy converter control apparatus moves the movable element while the field winding is supplied with a current that is at most a predetermined value, and measure an induced voltage induced in the armature winding. Since the induced voltage corresponds to the position of the movable element, it is possible to determine the position of the movable element from the induced voltage.
  • a second aspect of the invention relates to an energy converter control apparatus for controlling an energy converter which has a movable element, and a stationary element that has a plurality of armature windings, and which is able to move the movable element by supplying a multi-phase alternating current to the armature windings.
  • the apparatus supplies a current to the armature windings so that the current through the armature windings becomes zero while the movable element is moving, and measures a voltage of the armature windings.
  • the voltage of the armature windings changes in accordance with the position of the movable element. Since the voltage of the armature windings corresponds to the position of the movable element, it is possible to determine the position of the movable element from the voltage of the armature windings.
  • a third aspect of the invention relates to a method for controlling an energy converter which has a movable element that has a field winding, and a stationary element that has an armature winding.
  • the method includes the steps of: supplying the field winding with a current that is at most a predetermined value and that is able to move the movable element during a state where supply of the alternating current to the armature winding is suspended; and measuring an induced voltage induced in the armature winding while the current is supplied to the field winding.
  • the fourth aspect of the invention relates to a method for controlling an energy converter which has a movable element, and a stationary element that has a plurality of armature windings.
  • the method includes the steps of: supplying a current to the armature windings so that the current through the armature windings becomes zero during a state where the movable element is moving; and measuring a voltage of the armature windings while the armature windings are supplied with the current.
  • this method allows the position of the movable element to be determined from the measured voltage of the armature windings as in the second aspect of the invention.
  • FIG. 1 is a block diagram of a rotary motor and a rotary motor control apparatus in accordance with a first embodiment
  • FIG. 2 is a flowchart illustrating a control performed by the control apparatus shown in FIG. 1;
  • FIG. 3 is a timing chart for explaining the principle of error detection
  • FIG. 4 is a graph indicating relationships of the optimal magnetizable current If* and the amount of power generation Pg with the moving speed (rotation speed) Nm of a movable element;
  • FIG. 5 is a block diagram of a rotary motor and a rotary motor control apparatus in accordance with a second embodiment
  • FIG. 6 is a timing chart for explaining the principle of error detection
  • FIG. 7 is a graph indicating a relationship between the U-phase current and the phase error detected at the time of a power-generating operation
  • FIG. 8 is a flowchart illustrating a program executed within an electronic control unit ECU for the purpose of detecting a phase error
  • FIG. 9 is a timing chart for explaining the principle of error detection in accordance with a modification of the second embodiment.
  • FIG. 10 is a diagram for illustrating the principle of a two-pole alternating-current electric motor (synchronous motor).
  • FIG. 11 is a block diagram of a brushless motor 4 similar to the brushless motor described in Japanese Patent Application Laid-Open Publication No. 9-4706.
  • An energy converter in this embodiment is an apparatus that converts electric energy into kinetic energy or converts kinetic energy into electric energy, and represents an electric motor or a generator.
  • the “energy converter” means an electric motor, such as a rotary motor whose movable element is a rotor that undergoes rotational motion, a linear motor whose movable element is a slider that undergoes linear motion, etc., or a generator that generates electric power by rotating a movable element. Due to the reversibility in energy conversion, electric motors and generators have substantially the same basic structure. Description will be made below in conjunction with a case where the energy converter is a rotary motor.
  • FIG. 1 is a block diagram of a rotary motor and a rotary motor control apparatus in accordance with the first embodiment.
  • a rotary motor 4 in FIG. 1 is a revolving field type three-phase brushless motor, and has a structure as shown in FIG. 10 . That is, the motor 4 has a movable element R that has a magnetic material-made core C and a field winding r, and a stationary element S that has armature windings U, V, W.
  • the movable element R can be moved (rotated) by supplying alternating current to the armature windings U, V, W via an inverter circuit 3 while supplying current from a field current control circuit 30 to the field winding r in accordance with a command from an electronic control unit ECU.
  • the motor 4 is provided with peripheral circuits that are substantially the same as those shown in FIG. 11.
  • a direct-current voltage output from an AC/DC converter portion is supplied to the inverter circuit 3 .
  • the inverter circuit 3 On the basis of a timing signal output from the electronic control unit ECU (control apparatus), the inverter circuit 3 generates three-phase current, and supplies the armature windings U, V, W with alternating current of respective phases.
  • an appropriate drive circuit 7 Provided between the electronic control unit ECU and the inverter circuit 3 is an appropriate drive circuit 7 that generates a timing for generating three-phase alternating current from an output timing of the electronic control unit ECU.
  • the rotational position of the movable element R (not shown in FIG. 1 (see FIG. 10 )) can be detected by a position detector (Hall sensor) H.
  • An output of the position detector H is input to the electronic control unit ECU.
  • the voltage (potential) of each of the armature windings U, V, W detected by voltmeters 11 and the respective values of the currents therethrough detected by current sensors 12 are input to the electronic control unit ECU.
  • the electronic control unit ECU while suspending the supply of alternating-current voltage from the inverter circuit 3 to the armature windings U, V, W, supplies the field winding r with a current that is less than or equal to a predetermined value If* so as to move (rotate) the movable element, and then measures the induced voltages (potentials) induced in the armature windings U, V, W. Since the induced voltages correspond to the rotational position of the movable element, the aforementioned measurement allows detection of the position of the movable element.
  • the induced voltages correspond to the rotational position of the movable element R, it is possible to determine the position of the movable element from the induced voltages. Using the position of the movable element measured by the position detector H in addition to the position of the movable element determined from the induced voltages, an error of the position of the movable element can be measured.
  • the electronic control unit ECU calculates an error between the position of the movable element detected by the position detector H and the position of the movable element detected from the induced voltages, and corrects the reference point of the position of the movable element for the position detector H and adjusts the timing of a switching signal output to the inverter circuit 3 so as to eliminate the aforementioned error in the case where the energy converter functions as an electric motor.
  • the three-phase alternating current generation-purposed timing signal is to be generated with reference to the position of the movable element detected by the position detector H, it is appropriate to correct the position of the movable element on the basis of the measured error. In the case of a generator, too, similar timing adjustment may be performed if the inverter circuit 3 is driven.
  • the aforementioned predetermined value If* is a magnitude of current that does not cause power generation. That is, great power generation occurs if the current supplied to the field winding r becomes greater than a certain value. Therefore, in this apparatus, a current that does not cause power generation is defined as a predetermined value If*, and a current that is less than or equal to the value If* is supplied to the field winding r. In this case, too, an induced voltage can be measured since the current is not zero.
  • FIG. 2 is a flowchart for describing the aforementioned control.
  • the electronic control unit ECU determines whether a predetermined operation condition is met.
  • the predetermined operation condition is, for example, in the case of a hybrid vehicle, a condition that the movable element R starts moving due to an external force, for example, a condition that after an internal combustion engine is started up by a self-starting motor, the energy converter starts operating as a generator.
  • the predetermined operation condition may be a condition where the rotary motor 4 is being driven as a motor or where power generation or regeneration can be suspended. If the predetermined operation condition is not met, the electronic control unit ECU ends the control without entering an error detection mode.
  • the electronic control unit ECU enters the error detection mode.
  • the electronic control unit ECU first stops the inverter circuit 3 and starts full-wave rectification power generation (rectification generation) in step S 2 .
  • the electronic control unit ECU determines a quantity of current (predetermined value If*) that allows optimal excitation on the basis of the moving speed (rotation speed) of the movable element. That is, the current greater than the predetermined value If* causes power generation. If the current is equal to or less than the predetermined value If*, power generation is not caused but the induced voltage is reduced. Therefore, if the current is less than or equal to the predetermined value If*, certain effect can be expected.
  • step S 4 the electronic control unit ECU detects an error between the position of the movable element detected by the position detector H and the position of the movable element determined from the induced voltages measured during supply of current to the field winding r, and stores the detected error into a memory provided within the electronic control unit ECU.
  • FIG. 3 is a timing chart for explaining the principle of the aforementioned error detection.
  • the spatial rotational position of the movable element R is indicated by the signal voltage from the Hall sensor provided as the position detector H near the armature winding U.
  • the output voltage from the voltmeters 11 is detected as an induced voltage (U-Phase Hall sensor signal), as mentioned above. Therefore, the zero-cross timing of the induced voltage is detected.
  • the electronic control unit ECU has a zero-cross circuit 8 that detects, as a position of the movable element, the timing at which the measured induced voltage crosses a reference voltage level. Since this crossing timing indicates the position (rotation position, i.e., phase) of the movable element R, the position of the movable element R can easily be measured through the use of the zero-cross circuit 8 .
  • the zero-cross circuit in a narrow meaning, is a circuit that detects the crossing of an alternating current signal with respect to 0 V.
  • the zero-cross circuit includes a circuit that detects the crossing of an alternating current signal with respect to a reference voltage level other than 0 V.
  • the zero-cross circuit in this embodiment detects the crossing of an alternating current signal with respect to 0 V.
  • the zero-cross circuit 8 outputs an induced voltage (Zero-Cross detection signal) that has been converted into a rectangular wave.
  • the rectangular wave having a pulse width that is equivalent to a difference between the position of the movable element detected by the position detector H and the position of the movable element determined from the induced voltage measured during supply of current to the field winding r can be determined from a logical product of the rectangular waves of the U-Phase Hall sensor signal and the Zero-Cross detection signal.
  • the electronic control unit ECU Since the electronic control unit ECU has the movable element position detector H that, at the time of measurement of induced voltages by the zero-cross circuit 8 , detects the position of the movable element R by a different technique from the zero-cross circuit 8 , the electronic control unit ECU is able to determine, as a phase error, the difference between the position of the movable element detected by the position detector H at the time of measurement of induced voltages and the position of the movable element detected by the zero-cross circuit 8 . Therefore, it is possible to correct one of the detected positions in accordance with the other detected position. In this embodiment, the output of the position detector H is corrected by the amount of the error.
  • FIG. 4 is a graph indicating relationships of the optimal magnetizable current If* and the amount of power generation Pg with the moving speed (rotation speed) Nm of the movable element. If the current If is If1, If2, the amount of power generation Pg assumes values that are greater than or equal to zero provided that the rotation speed Nm is greater than or equal to N1, N2. Therefore, if the rotation speed Nm is less than or equal to N0, the optimal current value, that is, the predetermined value If*, is constant. As the rotation speed Nm increases from N0, the predetermined value If* decreases.
  • the electronic control unit ECU is able to shift the phase of the alternating current to a desired phase so as to conform the position of the movable element to a desired position. That is, the matching between the spatial phase of the position of the movable element and the electrical phase is needed in order to achieve a maximum electric power efficiency when the motor 4 is operating as an electric motor or when power generation is being performed with the inverter circuit 3 driven. If the phase matching of three-phase alternating current is carried out on the basis of only the signal from the position detector H, a maximum electric power efficiency cannot be achieved in the case of occurrence of an error. Moreover, loss of synchronization may result in that case.
  • the position of the movable element detected by the position detector H is corrected by, for example, correcting the position reference point, so as to reduce the error.
  • three-phase alternating current is generated so as to achieve the phase matching when the rotary motor 4 is driven as an electric motor or when the rotary motor 4 is operated as a generator with the inverter circuit driven.
  • the phase, period and frequency of the three-phase alternating current can be freely changed by the timing signal from the electronic control unit ECU, that is, at the timing of switching the transistors of the inverter circuit 3 . Therefore, the electronic control unit ECU adjusts the phase of the three-phase alternating current by adjusting the timing of the switching accomplished by the inverter circuit 3 , which supplies the three-phase alternating current to the armature windings U, V, W.
  • FIG. 5 is a block diagram of a rotary motor and a rotary motor control apparatus in accordance with a second embodiment.
  • a rotary motor 4 is a three-phase brushless motor having a movable element that is formed by a permanent magnet, that is, a three-phase brushless motor obtained by replacing the electromagnet which is made up of the field winding r and the magnetic material-made core C (see FIG. 10) shown in FIG. 1 with a permanent magnet.
  • the motor 4 has a movable element R, and a stationary element S that has armature windings U, V, W.
  • the movable element R can be moved (rotated) by supplying alternating current to the armature windings U, V, W so as to cause desired attraction and repulsion of the permanent magnet with respect to the magnetic field.
  • the motor 4 has the movable element R, and the stationary element S that has a plurality of armature windings U, V, W, and is capable of moving the movable element R by supplying multi-phase alternating current to the armature windings U, V, W.
  • An electronic control unit ECU that is, a control apparatus of the motor 4 , supplies the armature windings U, V, W with current so that the current through each of the armature windings U, V, W becomes zero while the movable element R is moving (rotating), and measures the voltages between the armature windings U, V, W.
  • the voltages between the armature windings U, V, W change in accordance with the position of the movable element R. Since the voltages between the armature windings U, V, W correspond to the position of the movable element R, the position of the movable element (spatial phase during rotation) can be determined from the voltages between the armature windings U, V, W.
  • the apparatus of the embodiment measures a position of the movable element on a different basis by using a position detector H, such as a Hall sensor or the like, which is provided in the apparatus. Therefore, the apparatus is able to measure an error regarding the position of the movable element.
  • FIG. 6 is a timing chart for explaining the principle of the error detection.
  • the spatial position of the movable element R is indicated by a signal voltage from the Hall sensor provided as the position detector H.
  • the electronic control unit ECU detects an inter-winding voltage, for example, U-V voltage, instead of the voltage of each phase. It is also possible to adopt a construction in which V-W voltage or W-U voltage is detected.
  • the inter-winding voltage does not altogether need to be an actual voltage, but may be an instructed voltage from the electronic control unit ECU in a simplified construction.
  • the electronic control unit ECU has a zero-cross circuit 8 that detects, as a position of the movable element, the timing at which the voltage between the armature windings U, V, W crosses a reference voltage level. Since this crossing timing indicates the position of the movable element, the use of the zero-cross circuit allows easy measurement of the position of the movable element R.
  • the zero-cross circuit 8 outputs a rectangular wave.
  • the pulse width of a rectangular wave indicating a difference (positional error) between a rectangular wave (U-Phase Hall sensor signal) indicating the position of the movable element detected by the position detector H and the rectangular wave (Zero-Cross detection signal) indicating the position of the movable element detected by the zero-cross circuit can be determined from a logical product of the two rectangular waves of U-Phase Hall sensor signal and Zero-Cross detection signal.
  • the electronic control unit ECU detects a difference between the position of the movable element detected by the zero-cross circuit and the position of the movable element detected by the position detector H at the time of measurement of the voltage between the armature windings U, V, W by means of operation of a computer or a difference circuit.
  • the electronic control unit ECU is able to determine a movable element position difference.
  • the electronic control unit ECU conforms the phase of the alternating current to a desired phase so as to conform the position of the movable element to a desired position.
  • the electronic control unit ECU is able to adjust the phase of the alternating current supplied to the armature windings U, V, W by adjusting the timing of the switching performed by the inverter circuit 3 , which supplies the alternating current to the armature windings U, V, W. This is because the inverter circuit is able to change the phase and frequency of the generated alternating current by controlling the switching timing.
  • FIG. 7 is a graph indicating a relationship between the U-phase current and the phase error detected at the time of a power-generating operation. That is, depending on the lead/lag of the phase, the amplitude of the U-phase current changes. The change in amplitude occurs on every one of the magnetic poles provided on the stationary element S. Therefore, in any one of the embodiments, the electronic control unit ECU stores a number of values of the aforementioned difference corresponding to the number of magnetic poles formed on the stationary element S, and is able to adjust the switching timing of the inverter circuit 3 separately for the individual magnetic poles on the basis of the stored values of the difference for the individual magnetic poles. In the case of the Hall sensor, the magnetization of the magnetic poles is likely to vary. In an ordinary case where the Pulse With Modulation (PWM) switching is performed on the basis of the Hall sensor, current ripple and torque ripple are likely to result. If correction is performed separately for each magnetic pole, smooth driving becomes possible.
  • PWM Pulse With Modulation
  • the zero point of the position of the movable element that serves as a reference for control is corrected separately for each magnetic pole so as to reduce the error. Since the aforementioned difference is stored as the amount of phase deviation for each magnetic pole, more accurate alternating current phase adjustment can be accomplished. Therefore, the efficiency during the operation as an electric motor or the power generation with the inverter driven will increase. Performing this correction operation for each magnetic pole is ideal. However, the correction operation may also be performed by using an average value among differences for each magnetic pole during a single rotation. Furthermore, taking into the CPU throughput into consideration, the correction operation may be performed by obtaining an average among differences for one magnetic pole during a single rotation.
  • FIG. 8 is a flowchart illustrating a program executed within the electronic control unit ECU for the purpose of detecting a phase error.
  • step S 10 it is determined whether a predetermined operation condition is met. If the operation condition is met, an error storage mode is entered. If the operation condition is not met, the control ends.
  • the predetermined operation condition for example, in the case of a hybrid vehicle incorporating an electric motor and an internal combustion engine, include a condition that after the internal combustion engine is started up by driving a self-starting motor, the electric motor enters a power generator mode, and the like.
  • step S 12 a time average Iave of the thus-determined current amplitude for each rotation of the movable element R is calculated.
  • step S 13 a difference between the time average Iave and the present current amplitude I is detected as a positional error (phase error), and is stored in the memory. If an instantaneous current amplitude I is set for each magnetic pole, correction by the inverter circuit 3 is performed for each magnetic pole. That is, if the amplitude I is greater than the average value Iave, it is determined that a phase delay is present. Then, control for advancing the phase is performed. If the amplitude I is smaller than the average value Iave, control in a converse manner is performed.
  • the average value Iave is used as a reference in this embodiment, it is also possible to use a reference value corresponding to a specific operation condition instead of the average value Iave. Through the aforementioned control, the current ripple and the torque ripple can be considerably reduced.
  • the phase error is not information that needs constant update, and it is appropriate that the phase error be stored in a non-volatile memory or the like, and be updated when necessary. Therefore, if there is an error in the precision of the position detector H itself or the mounting precision thereof, the above-described control allows stable torque performance, maximum torque (the cranking torque produced by a vehicular energy converter, etc.), and optimal efficiency control.
  • the phase of the alternating current supplied to the armature windings U, V, W at the time of operation of the energy converter as an electric motor can be adjusted in accordance with the difference between the reference current and the current that flows through the armature windings U, V, W at the time of movement (rotation) of the movable element R.
  • this reference current is set at the time of the matching between the spatial phase of the movable element R and the electrical phase supplied to the armature windings U, V, W, the difference between the reference current and the current that flows through the armature windings U, V, W at the time of movement of the movable element will correspond to an error in phase. Therefore, the use of the aforementioned difference minimizes the error.
  • the reference current may be an average value of currents output from the armature windings U, V, W. If the present electric current deviates from the average value, it is appropriate to advance or delay the phase of supplied current in accordance with the amount of deviation.
  • the energy converter can be caused to function as a rotary type electric motor or a rotary type generator.
  • the electric motor or generator can be applied to, for example, a drive power source of a vehicle.
  • the above-described electronic control unit ECU is able to control an energy converter, such as electric motors, including rotary motors whose movable element R is a rotor that undergoes rotational motion, and linear motors whose movable element R is a slider that undergoes linear motion, or generators that generate electric power by rotating a movable element.
  • the aforementioned voltage between the armature windings U and V may be changed to a voltage across a single armature winding.
  • the position of the movable element can be detected. That is, in this modification of the second embodiment, while the movable element R is moving, the armature winding U is supplied with current so that the current through the armature winding U becomes zero, and the voltage of the armature winding U alone is measured.
  • FIG. 9 is a timing chart for explaining the principle of error detection in the aforementioned construction.
  • the spatial rotational position of the movable element R is indicated by a signal voltage from a Hall sensor provided as the position detector H near the armature winding U.
  • the output voltage of the position detector H is detected as a voltage of the armature winding alone (a reference is a lower side of a direct-current voltage) by the filtering via a low-pass filter.
  • the zero-cross timing of the filtered voltage is detected.
  • the zero-cross timing is detected by comparing a fundamental wave component of the voltage of the armature winding alone from which a carrier component has been removed by the low-pass filter with a reference voltage Vb/2 (Vb being a direct-current voltage).
  • the electronic control unit ECU of the modification of the second embodiment has a zero-cross circuit that detects, as a position of the movable element, the timing at which the aforementioned measure voltage crosses a reference voltage level. Since the crossing timing indicates the position (rotational position, phase) of the movable element R, the use of the zero-cross circuit allows easy measurement of the position of the movable element R.
  • the zero-cross circuit outputs the aforementioned voltage converted into a rectangular wave.
  • the rectangular wave having a pulse width that is equivalent to a difference between the position of the movable element detected by the position detector H and the position of the movable element determined from the aforementioned voltage of the armature winding alone can be determined from a logical product of the rectangular waves from the zero-cross circuit and the position detector H.
  • the electronic control unit ECU Since the electronic control unit ECU has the movable element position detector H that, at the time of measurement of the voltage of the armature winding alone, detects the position of the movable element R by a different technique from the measurement of the voltage of the armature winding, the electronic control unit ECU is able to determine, as a phase error, the difference between the position of the movable element detected by the movable element position detector H at the time of measurement of the voltage and the position of the movable element detected by the zero-cross circuit. Therefore, it is possible to correct one of the detected positions in accordance with the other detected position. In this example, the output of the position detector H is corrected by the amount of the error.
  • the controls in the first embodiment, the second embodiment and its modification may also be applied to parallel hybrid type vehicles in which wheels are driven by an internal combustion engine and an electric motor supplied with electric power from a battery, and the two drive power sources can be selectively used in accordance with situations, and power from the internal combustion engine can be used to drive a generator so as to charge the battery during the running of the vehicle.
  • the above-described controls may also be applied to series hybrid type vehicles in which an internal combustion engine is used to drive a generator so as to generate electric power, and electric power is supplied to an electric motor for the driving of the vehicle.
  • the position detector H is a Hall sensor, it is also possible to use a resolver or a photocoupler as a position detector H.
  • the energy converter control apparatuses of the first embodiment, the second embodiment and its modification it is possible to measure an error regarding the position of the movable element while employing a simple construction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
US10/413,404 2002-05-09 2003-04-15 Energy converter control apparatus, and control method thereof Expired - Fee Related US6806670B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002134642A JP3765287B2 (ja) 2002-05-09 2002-05-09 エネルギー変換機制御装置
JP2002-134642 2002-05-09

Publications (2)

Publication Number Publication Date
US20030210006A1 US20030210006A1 (en) 2003-11-13
US6806670B2 true US6806670B2 (en) 2004-10-19

Family

ID=29397461

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/413,404 Expired - Fee Related US6806670B2 (en) 2002-05-09 2003-04-15 Energy converter control apparatus, and control method thereof

Country Status (4)

Country Link
US (1) US6806670B2 (ja)
JP (1) JP3765287B2 (ja)
DE (1) DE10320126A1 (ja)
FR (1) FR2841064B1 (ja)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040130283A1 (en) * 2002-11-29 2004-07-08 Mitsubishi Denki Kabushiki Kaisha Vehicular generator-motor system
US20070273323A1 (en) * 2004-05-31 2007-11-29 Emerson Appliance Motors Europe S.R.L. Drive Circuit for a Synchronous Electric Motor
US20080253899A1 (en) * 2007-04-10 2008-10-16 Aisan Kogyo Kabushiki Kaisha Brushless motor driving apparatus and fluid pump
US20110204856A1 (en) * 2010-02-23 2011-08-25 Denso Corporation Vehicle generator
US9050895B2 (en) 2012-04-23 2015-06-09 Mitsubishi Electric Corporation Control apparatus of rotating electrical machine
US9438157B2 (en) 2013-03-22 2016-09-06 Audi Ag Method for operating a multiphase electric machine and corresponding multiphase electric machine
US10177697B2 (en) * 2016-11-04 2019-01-08 Kabushiki Kaisha Toshiba Automatic voltage regulator, automatic voltage regulating method, generator excitation system, and power generation system

Families Citing this family (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7190145B2 (en) * 2002-01-16 2007-03-13 Ballard Power Systems Corporation Method and apparatus for improving speed measurement quality in multi-pole machines
EP1588480B1 (en) * 2003-01-30 2010-04-21 Ballado Investments Inc. Synchronous motor with currents controlled by a single hall sensor at high speeds
US7423396B2 (en) 2004-06-11 2008-09-09 International Rectifier Corporation Hall sensor alignment for BLDC motor
JP2006121798A (ja) * 2004-10-20 2006-05-11 Ishikawajima Harima Heavy Ind Co Ltd モータ駆動装置
US8283810B2 (en) * 2005-01-21 2012-10-09 C.E. Niehoff & Co. System and method for generator phase signal monitoring and control of electrical current distribution
DE102006025906A1 (de) * 2006-06-02 2007-12-06 Robert Bosch Gmbh Verfahren zur Erkennung der Sensorzuordnung innerhalb einer elektrischen Maschine
DE102008001408A1 (de) * 2008-04-28 2009-10-29 Robert Bosch Gmbh Offsetwinkelbestimmung bei Synchronmaschinen
JP5273451B2 (ja) * 2008-06-24 2013-08-28 株式会社ジェイテクト モータ制御装置
FR2934217B1 (fr) * 2008-07-28 2010-08-13 Renault Sas Chaine de traction electrique pour vehicule automobile.
JP4799652B2 (ja) * 2009-09-03 2011-10-26 三菱電機株式会社 アイドリングストップ再始動制御システム
GB2462948B (en) * 2009-10-15 2011-08-31 Protean Holdings Corp Method and system for measuring a characteristic of an electric motor
JP5178693B2 (ja) * 2009-11-16 2013-04-10 三菱電機株式会社 電動過給機の制御装置
DE102010029454A1 (de) * 2010-05-28 2011-10-13 Siemens Aktiengesellschaft System von Rotationskörpern
CN103098366B (zh) * 2010-07-12 2016-05-18 松下电器产业株式会社 相位偏移检测装置、马达驱动装置、无刷马达以及相位偏移检测方法
DE102012201319A1 (de) * 2011-02-02 2012-08-02 Robert Bosch Gmbh Verfahren, Vorrichtung und Computerprogramm zum Ermitteln eines Offsetwinkels in einer Elektromaschine
DE102011089341A1 (de) * 2011-12-21 2012-07-19 Continental Automotive Gmbh Bestimmen eines Winkels zwischen einem Stator und einem Rotor einer fremderregten Synchronmaschine
DE102012202772A1 (de) 2012-02-23 2013-08-29 Robert Bosch Gmbh Kalibrierung und Überwachung eines Winkelmesssystems für elektrische Maschinen
FR2990088B1 (fr) * 2012-04-30 2014-05-09 Renault Sa Procede de determination du decalage angulaire entre le rotor et le stator d'une machine electrique d'un vehicule automobile
JP6083331B2 (ja) 2013-06-21 2017-02-22 株式会社デンソー 車両用回転電機
JP5642251B2 (ja) * 2013-11-06 2014-12-17 三菱電機株式会社 回転電機の制御装置
DE102014208527A1 (de) * 2014-05-07 2015-11-12 Continental Automotive Gmbh Verfahren zum Steuern einer elektronisch kommutierten Elektromotors
US10637374B2 (en) * 2014-08-08 2020-04-28 Johnson Electric International AG Magnetic sensor integrated circuit, motor component and application apparatus
JP6398890B2 (ja) 2014-10-21 2018-10-03 株式会社デンソー 回転電機の制御装置
DE102015102236B4 (de) * 2015-02-17 2024-05-29 Beckhoff Automation Gmbh Steuerungssystem für einen elektrischen Motor
JP2017135950A (ja) * 2016-01-29 2017-08-03 株式会社マキタ 電動作業機
WO2018089642A1 (en) * 2016-11-11 2018-05-17 Hubbell Incorporated Motor drive and method of emergency stop braking
FR3060907B1 (fr) * 2016-12-19 2018-12-07 Safran Electronics & Defense Dispositif de pilotage d’un moteur electrique
US11081948B2 (en) * 2018-06-28 2021-08-03 Ford Global Technologies, Llc System and method for in-vehicle resolver alignment
JP7490436B2 (ja) 2020-04-20 2024-05-27 キヤノン株式会社 駆動システム、リソグラフィ装置および物品の製造方法。
JP7058777B1 (ja) 2021-02-15 2022-04-22 三菱電機株式会社 永久磁石式回転電機の制御装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0947066A (ja) 1995-07-31 1997-02-14 Fuji Electric Co Ltd 永久磁石形同期電動機の制御装置
JPH1080188A (ja) 1996-09-04 1998-03-24 Mitsubishi Electric Corp 回転磁石形多相同期電動機の制御方法及びその装置
JP2001128484A (ja) 1999-10-26 2001-05-11 Honda Motor Co Ltd 同期モータの検出位置補正方法
US6326748B1 (en) * 1999-06-09 2001-12-04 Denso Corporation Brushless motor powered by DC power source
US6353297B1 (en) * 1998-12-24 2002-03-05 C. & E. Fein Gmbh & Co. Series motor

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58196594U (ja) * 1982-06-22 1983-12-27 東洋電機製造株式会社 無整流子電動機の回転子位置検出回路
JPS6158496A (ja) * 1984-08-29 1986-03-25 Tamagawa Seiki Kk ステツプモ−タエンコ−ダの調整方法
JPH06165561A (ja) * 1992-11-26 1994-06-10 Toshiba Corp 同期電動機の制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0947066A (ja) 1995-07-31 1997-02-14 Fuji Electric Co Ltd 永久磁石形同期電動機の制御装置
JPH1080188A (ja) 1996-09-04 1998-03-24 Mitsubishi Electric Corp 回転磁石形多相同期電動機の制御方法及びその装置
US6353297B1 (en) * 1998-12-24 2002-03-05 C. & E. Fein Gmbh & Co. Series motor
US6326748B1 (en) * 1999-06-09 2001-12-04 Denso Corporation Brushless motor powered by DC power source
JP2001128484A (ja) 1999-10-26 2001-05-11 Honda Motor Co Ltd 同期モータの検出位置補正方法

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040130283A1 (en) * 2002-11-29 2004-07-08 Mitsubishi Denki Kabushiki Kaisha Vehicular generator-motor system
US7230399B2 (en) * 2002-11-29 2007-06-12 Mitsubishi Denki Kabushiki Kaisha Vehicular generator-motor system
US20070273323A1 (en) * 2004-05-31 2007-11-29 Emerson Appliance Motors Europe S.R.L. Drive Circuit for a Synchronous Electric Motor
US7479755B2 (en) * 2004-05-31 2009-01-20 Emerson Appliance Motors Europe S.R.L. Drive circuit for a synchronous electric motor
US20080253899A1 (en) * 2007-04-10 2008-10-16 Aisan Kogyo Kabushiki Kaisha Brushless motor driving apparatus and fluid pump
US20110204856A1 (en) * 2010-02-23 2011-08-25 Denso Corporation Vehicle generator
US8513924B2 (en) * 2010-02-23 2013-08-20 Denso Corporation Vehicle generator
US9050895B2 (en) 2012-04-23 2015-06-09 Mitsubishi Electric Corporation Control apparatus of rotating electrical machine
US9438157B2 (en) 2013-03-22 2016-09-06 Audi Ag Method for operating a multiphase electric machine and corresponding multiphase electric machine
US10177697B2 (en) * 2016-11-04 2019-01-08 Kabushiki Kaisha Toshiba Automatic voltage regulator, automatic voltage regulating method, generator excitation system, and power generation system

Also Published As

Publication number Publication date
FR2841064B1 (fr) 2010-09-03
US20030210006A1 (en) 2003-11-13
JP2003333884A (ja) 2003-11-21
DE10320126A1 (de) 2003-12-18
JP3765287B2 (ja) 2006-04-12
FR2841064A1 (fr) 2003-12-19

Similar Documents

Publication Publication Date Title
US6806670B2 (en) Energy converter control apparatus, and control method thereof
US8339076B2 (en) Electric motor drive control apparatus
US6605912B1 (en) Method for controlling a permanent magnet motor
Pasquesoone et al. Position estimation at starting and lower speed in three-phase switched reluctance machines using pulse injection and two thresholds
US8446117B2 (en) Methods, systems and apparatus for adjusting duty cycle of pulse width modulated (PWM) waveforms
US7072778B2 (en) Method and system for determining a rotor position in a wound field DC motor
US7279863B2 (en) Method and apparatus for detecting excitation position of SRM by comparison of detected current
EP2704306B1 (en) Apparatus for controlling motor for electric vehicle and method for reducing torque ripple using the same
US20060138994A1 (en) Space vector-based current controlled pwm inverter for motor drives
US20060145639A1 (en) Brushless DC motor system and method of controlling the same
US20070296371A1 (en) Position sensorless control apparatus for synchronous motor
US8896245B2 (en) Methods, systems and apparatus for generating voltage command signals for controlling operation of an electric machine
US20140084821A1 (en) Method and Apparatus for Controlling an Electrical Machine
CN113162481B (zh) 旋转电机装置的控制装置
JP3397013B2 (ja) 同期モータの制御装置
Krishnan et al. A neoteric method based on PWM ON PWM scheme with buck converter for torque ripple minimization in BLDC drive
JP2007046544A (ja) 電動圧縮機の制御装置
JP4055372B2 (ja) モータ駆動装置
JP2003088157A (ja) モータ制御装置
US11616459B2 (en) Drive methods for a three-phase motor
US20230155533A1 (en) Motor control device, electric vehicle, and motor control method
US20230142956A1 (en) Motor controller, motor system and method for controlling motor
Ristiana et al. Advance BLDC motor drive control for electric vehicles
Brüns et al. Parameter sensitivity of a MRAS-based sensorless control for AFPMSM considering speed accuracy and dynamic response at multiple parameter variations
Deskur et al. Application of digital phase locked loop for control of SRM drive

Legal Events

Date Code Title Description
AS Assignment

Owner name: TOYOTA JIDOSHA KABUSHIKI KAISHA, JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:KUSAKA, YASUSHI;REEL/FRAME:013979/0079

Effective date: 20030407

FEPP Fee payment procedure

Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

FPAY Fee payment

Year of fee payment: 4

FPAY Fee payment

Year of fee payment: 8

REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20161019